Water conservancy surveying and mapping equipment based on laser radar

Abstract

The utility model provides water conservancy surveying and mapping equipment based on a laser radar, and belongs to the technical field of engineering surveying and mapping. The device is improved based on existing unmanned aerial vehicle equipment, and is ingenious in structure and good in detection effect. Three radar probes of the device are fixedly arranged on the bottom face and two side vertical faces of a machine body respectively, two supporting legs are hinged to the bottom face of the machine body, the top face of the machine body extends upwards to be provided with two supporting frames, the two supporting frames are located at the head end and the tail end of the machine body respectively, the supporting frames are in a Y shape, and first driving motors are arranged at the two top ends of the supporting frames respectively; the driving end of each first driving motor is fixedly provided with a flight propeller. The three radar probes are arranged on the device body, the detection range is enlarged, the detection performance is improved, the supporting legs of the device can be lifted and folded, the detection visual angle of the radar probes is wider, the detection accuracy is improved, the grabbing clamps are arranged on the device body, and it is guaranteed that the supporting legs are lifted stably.

Description

Technical Field

[0001] The utility model belongs to the technical field of engineering surveying and mapping, and in particular relates to water conservancy surveying and mapping equipment based on laser radar. Background Art

[0002] With the continuous development of drone technology, the application fields of drones are gradually increasing. Among them, in the field of engineering surveying and mapping, the application of drones has provided great help to technicians and accelerated the surveying and mapping process.

[0003] When drones are used in the field of surveying and mapping, cameras are often installed on drones to collect real-life images of the site to be surveyed. This method can restore the real-life situation to a high degree, but lacks data support when drawing data maps. Therefore, the cameras are later replaced with lidar devices. LiDAR devices can detect data on actual conditions with high accuracy, but the current support structures of drones are mostly rigid structures. When the radar probe is in operation, interference often occurs, affecting the accuracy of the data. Utility Model Content

[0004] In order to solve the problems existing in the above-mentioned background technology, the utility model provides a water conservancy surveying and mapping equipment based on laser radar. The equipment is improved based on the existing drone equipment, has a clever structure and good detection effect.

[0005] The technical solution adopted by the utility model to solve its technical problems is: a water conservancy surveying and mapping equipment based on laser radar, including a fuselage, two supporting legs, three radar probes and multiple flying paddles, the three radar probes are respectively fixed on the bottom surface and two side surfaces of the fuselage, the two supporting legs are hinged on the bottom surface of the fuselage, and two support frames are extended upward from the top surface of the fuselage. The two support frames are respectively located at the first two ends of the fuselage, and the support frames are Y-shaped. A driving motor is respectively arranged at the two top ends of the support frames, and a flying paddle is fixedly installed on the driving end of each driving motor.

[0006] Two groups of hinged seats are protruding from the bottom surface of the fuselage, and the two legs are hinged in the gaps between the two groups of hinged seats respectively. Two drive motors are provided in each group of the hinged seats, and the driving end of the second drive motor is fixedly connected to the hinged end of the leg. The two legs are both Y-shaped with the opening facing downward, and a grab rod is fixedly provided between the two leg bodies of the leg, and the grab rod is parallel to the hinge axis of the leg.

[0007] The laser radar-based water conservancy surveying and mapping equipment also includes two grabbing clamps. Mounting seats are fixedly arranged on the front and rear end surfaces of the fuselage. The two mounting seats are both arranged with the lower end surfaces flush with the bottom surface of the fuselage, and the two grabbing clamps are respectively installed on the bottom surfaces of the two mounting seats.

[0008] Each of the grabbing clamps includes a rubber strip and two clamping arms. The two clamping arms are arranged opposite to each other and are hinged at the top to the bottom surface of the mounting base. The lower ends of the two clamping arms are inwardly retracted in an arc shape, and the two ends of the rubber strip are fixedly connected to the lower ends of the two clamping arms respectively.

[0009] The two clamping arms are contracted to be in a clamping state, the radial dimension of the arc enclosed by the lower ends of the clamping arms is larger than the radial dimension of the grabbing rod, and the length dimension of the rubber strip is smaller than the circumference dimension of the grabbing rod.

[0010] The beneficial effects of the present invention are as follows: the surveying and mapping equipment is provided with radar probes on the three outer walls of the fuselage, which increases the detection radiation range and improves the detection performance; the support legs of the equipment can be lifted up and retracted, providing a wide detection viewing angle for the radar probe and improving the detection accuracy; a grabbing clamp is provided on the fuselage of the equipment to keep the support legs in a stable position after being lifted up, thereby extending the service life of the drive motor 2 and having high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In the attached figure:

[0012] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0013] Figure 2 This is a schematic diagram of the folding effect of the supporting legs of the utility model;

[0014] Figure 3 This is a schematic diagram of the working principle of the utility model;

[0015] In the figure: 1. Fuselage; 2. Radar probe; 3. Support leg; 4. Flight propeller; 5. Grab clamp; 11. Support frame; 12. Hinge mount; 13. Mounting seat; 31. Grab rod; 51. Clamping arm; 52. Rubber strip. DETAILED DESCRIPTION

[0016] The present invention will now be described in further detail with reference to the accompanying drawings. The accompanying drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0017] A water conservancy surveying and mapping equipment based on laser radar includes a fuselage 1, two supporting legs 3, three radar probes 2 and multiple flying paddles 4. The three radar probes 2 are respectively fixed on the bottom surface and two side surfaces of the fuselage 1, and the two supporting legs 3 are hinged on the bottom surface of the fuselage 1. Two support frames 11 are extended upward from the top surface of the fuselage 1. The two support frames 11 are respectively located at the first two ends of the fuselage 1. The support frames 11 are Y-shaped. Drive motors 1 are respectively arranged at the two top ends of the support frames 11. A flying paddle 4 is fixedly installed on the driving end of each drive motor 1. Multiple drive motors 1 are driven to start and stop, which drives the flying paddle 4 to rotate or stop, thereby realizing the control of the takeoff and landing of the entire equipment.

[0018] Two groups of hinged seats 12 are protruding from the bottom surface of the fuselage 1, and the two legs 3 are hinged in the gaps between the two groups of hinged seats 12 respectively. Two drive motors are provided in each group of hinged seats 12, and the driving end of the second drive motor is fixedly connected to the hinged end of the leg 3. The operation of the second drive motor drives the leg 3 to rotate and displace around the hinge axis.

[0019] The two supporting legs 3 are both Y-shaped with the opening facing downwards. A grab bar 31 is fixedly provided between the two legs of the supporting legs 3 , and the grab bar 31 is parallel to the hinge axis of the supporting legs 3 .

[0020] The laser radar-based water conservancy surveying and mapping equipment also includes two grabbing clamps 5. Mounting seats 13 are fixedly arranged on the front and rear end surfaces of the fuselage 1. The two mounting seats 13 are both arranged with the lower end surfaces flush with the bottom surface of the fuselage 1, and the two grabbing clamps 5 are respectively installed on the bottom surfaces of the two mounting seats 13.

[0021] Each of the grabbers 5 includes a rubber strip 52 and two clamping arms 51. The two clamping arms 51 are arranged opposite to each other and are hinged at the top to the bottom surface of the mounting seat 13. The hinge axes of the two clamping arms 51 are parallel to the hinge axes of the support legs 3. The lower ends of the two clamping arms 51 are inwardly retracted in an arc shape, and the two ends of the rubber strip 52 are fixedly connected to the lower ends of the two clamping arms 51 respectively.

[0022] The two clamping arms 51 are contracted to be in a clamping state. The radial dimension of the arc enclosed by the lower end of the clamping arm 51 is larger than the radial dimension of the grab bar 31 , and the length of the rubber strip 52 is smaller than the circumference of the grab bar 31 .

[0023] Specifically, when the two clamping arms 51 contract to clamp the grab bar 31, the radial dimension of the enclosed space is slightly larger than the radial dimension of the grab bar 31, and the rubber strip 52 fills the gap between the clamping arms 51 and the grab bar 31. The length of the rubber strip 52 is smaller than the circumference of the grab bar 31. The grab bar 31 is located between the two clamping arms 51 and pushes the rubber strip 52 to pull and restrain the two clamping arms 51 to maintain a stable position.

[0024] The fuselage 1 is integrated with the remote control, positioning, signal transmission, power supply and other modules of the drone. When the device is used, it is used in conjunction with the drone handheld remote control and data receiving device. The data receiving device records the data detected by the surveying and mapping equipment and records it. The above components and radar probes are all mature existing technologies at this stage.

[0025] Working principle: When using the equipment, the operator controls the drive motor through the handheld remote control to start the operation, so that the equipment takes off and flies to the location to be surveyed. The operator remotely controls multiple radar probes to detect the actual situation and transmits the data to the data receiving device for recording.

[0026] Before the surveying and mapping equipment takes off, the two legs 3 are in a vertical state, supporting the fuselage 1 to keep it off the ground. After the surveying and mapping equipment takes off, the two legs 3 need to be lifted up and retracted, so that the two legs 3 are adjusted to a horizontal state to provide a sufficient detection path for the radar probe 2.

[0027] The remote control drives motor 2 to lift and retract the supporting leg 3. Before the supporting leg 3 is lifted, the clamp 5 remains in an open state, that is, the lower ends of the two clamping arms 51 are separated and the rubber strip 52 is straightened. When the supporting leg 3 is lifted, the grab bar 31 first touches the rubber strip 52, and the supporting leg 3 continues to lift, pushing the rubber strip 52 upward, and the rubber strip 52 pulls the two clamping arms 51 to close and clamp the grab bar 31. Because the length of the rubber strip 52 is smaller than the circumference of the grab bar 31, and combined with the automatic restoration property of the rubber material itself, when the clamp 5 clamps the grab bar 31, the rubber strip 52 is always in an elongated state, so it always pulls the lower ends of the two clamping arms 51 to maintain stable contraction, ensuring stable clamping of the supporting leg 3. The final lifting position of the supporting leg 3 is that the supporting leg 3 remains horizontal. When the supporting leg 3 is horizontal, the driving motor 2 stops running.

[0028] When the surveying and mapping equipment is ready to land, the two legs 3 are lowered, and the drive motor 2 is started to run in the reverse direction, so that the legs 3 are driven to rotate and can be released from the clamping of the clamp 5.

[0029] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A water conservancy surveying and mapping device based on laser radar, characterized by: The invention comprises a fuselage (1), two legs (3), three radar probes (2) and a plurality of flying propellers (4), wherein the three radar probes (2) are respectively fixedly arranged on the bottom surface and two side surfaces of the fuselage (1), the two legs (3) are hingedly mounted on the bottom surface of the fuselage (1), and two support frames (11) are extended upward from the top surface of the fuselage (1), the two support frames (11) are respectively located at the first and second ends of the fuselage (1), and the support frames (11) are Y-shaped, and a driving motor is respectively arranged at the two top ends of the support frames (11), and a flying propeller (4) is fixedly mounted on the driving end of each driving motor.

2. The water conservancy surveying and mapping equipment based on laser radar according to claim 1, characterized in that: Two groups of hinged mounting seats (12) are protruding from the bottom surface of the fuselage (1), and the two legs (3) are hingedly mounted in the spaces between the two groups of hinged mounting seats (12). Two drive motors are arranged in each group of the hinged mounting seats (12), and the drive end of the second drive motor is fixedly connected to the hinged end of the leg (3).

3. The water conservancy surveying and mapping equipment based on laser radar according to claim 2, characterized in that: The two supporting legs (3) are both Y-shaped with the opening facing downwards, and a grab bar (31) is fixedly arranged between the two legs of the supporting legs (3), and the grab bar (31) is parallel to the hinge axis of the supporting legs (3).

4. The water conservancy surveying and mapping equipment based on laser radar according to claim 3, characterized in that: The laser radar-based water conservancy surveying and mapping equipment further comprises two grippers (5), mounting seats (13) are fixedly arranged on both the front and rear end surfaces of the fuselage (1), the two mounting seats (13) are both arranged with their lower end surfaces flush with the bottom surface of the fuselage (1), and the two grippers (5) are respectively arranged on the bottom surfaces of the two mounting seats (13).

5. The water conservancy surveying and mapping equipment based on laser radar according to claim 4, characterized in that: Each of the gripping clamps (5) comprises a rubber strip (52) and two clamping arms (51). The two clamping arms (51) are arranged relative to each other and are hinged at the top on the bottom surface of the mounting seat (13). The hinge axes of the two clamping arms (51) are parallel to the hinge axes of the supporting legs (3). The lower ends of the two clamping arms (51) are inwardly retracted in an arc shape. The two ends of the rubber strip (52) are fixedly connected to the lower ends of the two clamping arms (51) respectively.

6. The water conservancy surveying and mapping equipment based on laser radar according to claim 5, characterized in that: The two clamping arms (51) are contracted to be in a clamping state, the radial dimension of the arc enclosed by the lower end of the clamping arm (51) is larger than the radial dimension of the grab bar (31), and the length dimension of the rubber strip (52) is smaller than the circumference dimension of the grab bar (31).

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